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Pipeline robot for oil-gas pipeline and pipeline defect detecting and repairing method

A pipeline robot, oil and gas pipeline technology, applied in the field of oil pipeline defect detection and repair, can solve problems such as difficulty in applying oil and gas transmission pipelines, and achieve the effect of ensuring the centering degree, overcoming the complexity of the structure and reducing the degree of complexity

Active Publication Date: 2021-04-09
SOUTHWEST PETROLEUM UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The invention provides a pipeline robot for oil and gas pipelines and a method for detecting and repairing pipeline defects. One of the technical problems to be solved is that the existing pipeline robot flaw detection method is difficult to apply to oil and gas pipelines, so as to reduce the interference of oil pollution on the pipe wall and improve the quality of the pipeline. The detection accuracy of inner wall defects, and the purpose of being able to directly spray and paint the polished part after grinding

Method used

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  • Pipeline robot for oil-gas pipeline and pipeline defect detecting and repairing method
  • Pipeline robot for oil-gas pipeline and pipeline defect detecting and repairing method
  • Pipeline robot for oil-gas pipeline and pipeline defect detecting and repairing method

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Experimental program
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Effect test

Embodiment 1

[0067] Such as Figure 1 to Figure 4 The shown pipeline robot for oil and gas pipelines includes a walking assembly and a working assembly connected to the walking assembly. The working assembly includes a rotating part 1, a defect detection device connected to the rotating part 1, and is used to drive the rotating part 1. The rotating first driving device 2, the grinding head 3 and the nozzle 4 that are slidably connected to the rotating part 1; the rotating part 1 is also provided with a dust suction device 5, a first induction device, and a second induction device, and the dust suction device 5 faces the grinding In the direction of the head 3, the first sensing device is used to sense the distance between the grinding head 3 and the pipe wall, and the second sensing device is used to sense the distance between the nozzle 4 and the pipe wall; the defect detection device includes an infrared detection device 8, an image acquisition device 9, Infrared detection device 8 is dr...

Embodiment 2

[0072] Such as Figure 1 to Figure 6 The shown pipeline robot for oil and gas pipelines, on the basis of Embodiment 1, the grinding head 3 is installed outside the first cover 10, and the grinding head 3 is driven by the fourth driving device 11 installed in the first cover 10 Drive to rotate, the second driving device 6 is used to drive the first cover 10 to move linearly as a whole; it also includes a positioning frame 12 fixed relatively to the first cover 10, and the positioning frame 12 includes a gap 121 for accommodating the grinding head 3 1. The dust suction jack 122 located on one side or both sides of the gap 121, the dust suction jack 122 is used to assemble the dust suction port of the dust suction device 5; the third driving device 7 passes through the second cover 14; the first cover 10. The second cover 14 is fixed on the side of the rotating part 1 away from the direction of the walking assembly; the image acquisition device 9 is installed on the platform 901,...

Embodiment 3

[0081] For the pipeline robot for oil and gas pipelines, on the basis of any of the above-mentioned embodiments, the walking assembly includes a car body 20, four wheels 21 distributed in a square shape for the car body 20 to walk, and each wheel 21 is composed of a sixth The driving device 22 is driven to rotate; the left and right sides of the walking assembly are provided with support arms 23, and the two support arms 23 are electric telescopic devices with synchronous actions; a third induction device is also included, and the third induction device is used for sensing the pipe wall to support The pressure exerted by the arm 23 and / or the distance between the support arm 23 and the pipe wall; the third sensing device and each sixth driving device 22 are all connected with the control system for signal. Wherein the sixth driving device 22 is preferably a DC motor, and the third sensing device can use a pressure sensor and a distance sensor at the same time.

[0082] In this...

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Abstract

The invention discloses a pipeline robot for an oil-gas pipeline and a pipeline defect detecting and repairing method. The pipeline robot comprises a walking assembly and a working assembly connected to the walking assembly. The working assembly comprises a rotating piece, a defect detection device fixedly connected to the rotating piece, a first driving device used for driving the rotating piece to rotate, a grinding head slidably connected to the rotating piece and a spray head. A dust collection device, a first induction device and a second induction device are further arranged on the rotating piece; the defect detection device comprises an infrared detection device and an image acquisition device; and a control system is further included. One of the technical problems that an existing pipeline robot flaw detection mode is difficult to apply to the oil-gas conveying pipeline is solved, and the purposes of reducing pipe wall oil contamination interference, improving the detection accuracy of the defects of the inner wall of the pipeline and directly spraying and painting the polished part after polishing are achieved.

Description

technical field [0001] The invention relates to the field of oil pipeline defect detection and repair, in particular to a pipeline robot used for oil and gas pipelines and a pipeline defect detection and repair method. Background technique [0002] With the laying of a large number of long-distance oil and gas pipelines, it is particularly important to regularly inspect and maintain these oil and gas pipelines. Pipeline robots are one of the important means for such operations. However, the existing pipeline robots have at least the following disadvantages when they are used for defect detection and repair of large-diameter oil and gas pipelines: (1) Most of the existing pipeline robot flaw detection methods use cameras to directly obtain pipe wall images, and then use image recognition or manual judgment However, for oil and gas transmission pipelines, the pipe wall is likely to have oil residues, which seriously affects the detection accuracy of image recognition or manual...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01N21/88G01N21/3563B24B5/36B24B5/35B24B41/02B24B41/04B24B47/20B24B55/06B24B49/12B05B16/20B05B13/06
CPCB05B13/0618B05B13/0627B24B5/35B24B5/36B24B41/02B24B41/04B24B47/20B24B49/12B24B55/06B05B16/20G01N21/3563G01N21/8851G01N2021/8887
Inventor 胡刚马建波曹煜磊王国荣陈子杰廖宇文王岩
Owner SOUTHWEST PETROLEUM UNIV
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